Altitude offset of the visual reference point w.r.t. the centre of gravity. FIXME: Verify the roll dependence. -0.083333333 metrics/visualrefpoint-x-in inertia/cg-x-in attitude/pitch-rad 0.083333333 metrics/visualrefpoint-z-in inertia/cg-z-in attitude/pitch-rad -0.083333333 metrics/visualrefpoint-y-in inertia/cg-y-in attitude/roll-rad Altitude of the visual reference point. position/h-sl-ft position/vrp-cg-altitude-offset-ft Distance between the visual reference point and the ground surface. position/h-agl-ft position/vrp-cg-altitude-offset-ft Latitude of the visual reference point. Based on the geocentric to geodetic conversion vrp-latitude-deg = atan(tan(vrp-gc-latitude_deg)/(1-f)^2)) where for WGS 84 f = 1.0/298.25722. 57.29578 0.017453293 position/vrp-gc-latitude_deg 1.0067395 Longitude of the visual reference point. position/vrp-longitude_deg Feet per degree of latitude at the present position. The conversion is based on http://gis.stackexchange.com/questions/75528/length-of-a-degree-where-do-the-terms-in-this-formula-come-from but further truncated. 3.2808399 111132.92 -559.82 2.0 0.017453293 position/vrp-latitude-deg Feet per degree of longitude at the present position. The conversion is based on http://gis.stackexchange.com/questions/75528/length-of-a-degree-where-do-the-terms-in-this-formula-come-from but further truncated. 3.2808399 111412.84 0.017453293 position/vrp-latitude-deg -93.5 3.0 0.017453293 position/vrp-latitude-deg position/vrp-latitude-deg 0.0 0.0 1.0 The conversion from degrees of latitude per second to ft/sec is based on http://gis.stackexchange.com/questions/75528/length-of-a-degree-where-do-the-terms-in-this-formula-come-from but further truncated. position/latitude-unit-distance-ft_deg velocities/vrp-v-north-deg_sec position/vrp-longitude-deg 0.0 0.0 1.0 The conversion from degrees of longitude per second to ft/sec is based on http://gis.stackexchange.com/questions/75528/length-of-a-degree-where-do-the-terms-in-this-formula-come-from but further truncated. position/longitude-unit-distance-ft_deg velocities/vrp-v-east-deg_sec position/vrp-altitude-ft 0.0 0.0 -1.0